Redirect 301

[paul59]

Hello,

Google indexed my website with all the URLs like index.php?id=my-url

I'd like to do a redirect 301 via htaccess for example.

For example :

http://www.mydomaine.fr/index.php?id=hello-my-friend

should do a 301 redirect to 

http://www.mydomaine.fr/hello-my-friend.html

Can you help me please ?